hpp::core::Inequality< T > Class Template Reference

Implementation of inequality. More...

#include <hpp/core/comparison-type.hh>

Inheritance diagram for hpp::core::Inequality< T >:
Collaboration diagram for hpp::core::Inequality< T >:

Public Member Functions

virtual bool operator() (vectorOut_t value, matrixOut_t jacobian) const
 Return the result of the comparison. More...
 
virtual bool operator() (vectorOut_t value) const
 Return the result of the comparison. More...
 
void threshold (const value_type &t)
 
- Public Member Functions inherited from hpp::core::ComparisonType
virtual bool constantRightHandSide () const
 Return whether the right hand side of the comparison is constant. More...
 

Static Public Member Functions

static ComparisonTypePtr_t create (const value_type &threshold=1e-3)
 
- Static Public Member Functions inherited from hpp::core::ComparisonType
static ComparisonTypePtr_t createDefault ()
 

Protected Member Functions

 Inequality (const value_type &threshold)
 

Additional Inherited Members

- Public Types inherited from hpp::core::ComparisonType
enum  Type {
  Equality,
  EqualToZero,
  Superior,
  Inferior,
  DoubleInequality
}
 
typedef std::vector< TypeVectorOfTypes
 

Detailed Description

template<ComparisonType::Type T>
class hpp::core::Inequality< T >

Implementation of inequality.

\begin{eqnarray*} f (\mathbf{q}) \leq 0 \in \mathbb{R}^m \end{eqnarray*}

if T is ComparisonType::Inferior

\begin{eqnarray*} f (\mathbf{q}) \geq 0 \in \mathbb{R}^m \end{eqnarray*}

if T is ComparisonType::Superior

See also
SuperiorIneq InferiorIneq

Constructor & Destructor Documentation

◆ Inequality()

template<ComparisonType::Type T>
hpp::core::Inequality< T >::Inequality ( const value_type threshold)
protected

Member Function Documentation

◆ create()

template<ComparisonType::Type T>
static ComparisonTypePtr_t hpp::core::Inequality< T >::create ( const value_type threshold = 1e-3)
static

◆ operator()() [1/2]

template<ComparisonType::Type T>
virtual bool hpp::core::Inequality< T >::operator() ( vectorOut_t  value,
matrixOut_t  jacobian 
) const
virtual

Return the result of the comparison.

Parameters
[in,out]valuethe value that will be compared and saturated.
[in,out]jacobianthe jacobian to be saturated depending on the value.
Returns
true is the constraint is - at least partially - active

Implements hpp::core::ComparisonType.

◆ operator()() [2/2]

template<ComparisonType::Type T>
virtual bool hpp::core::Inequality< T >::operator() ( vectorOut_t  value) const
virtual

Return the result of the comparison.

Parameters
[in,out]valuethe value that will be compared and saturated.
Returns
true is the constraint is - at least partially - active

Implements hpp::core::ComparisonType.

◆ threshold()

template<ComparisonType::Type T>
void hpp::core::Inequality< T >::threshold ( const value_type t)